“What can your humanoid robot do?” is probably the most commonly asked question that we, as roboticists, have to answer when interacting with the general public. Often, the question is framed in the familiar household or office setting, with implied expectations of robust locomotion on uneven and cluttered terrain and compliant interaction with people, objects, and the … [Read more...] about Motion Planning for Humanoid Locomotion: Applications to Homelike Environments
Features
The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints
The Open Stack of Tasks (OpenSoT) library is a state-of-the-art framework for instantaneous whole-body motion planning and control based on quadratic programming optimization. The library is designed to enable users to easily write and solve a variety of complex instantaneous whole-body control problems with minimal input, facilitating the addition of new tasks, constraints, … [Read more...] about The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints
Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations
Despite the prevalence of robots operating within controlled environments, such as industries, recent advancements in both autonomy and human–robot interaction have expanded the potential for their use within a diverse range of scenarios. Research efforts in humanoid robotics aim to develop platforms possessing the requisite versatility and dexterity to mimic human motion. This … [Read more...] about Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations
